SYSTEMS AND METHODS FOR MAGNETIC SENSING AND DOCKING WITH A TROCAR

• Main Authors: WANG MIN, MOSES DENNIS, PIEDRAHITA MIGUEL, GARCIA KILROY PABLO, CORDOBA JOSE LUIS, FUERST BERNHARD A
• Format: Patent
• Language: Chinese; English
• Published: 14.12.2021
• Subjects: DIAGNOSIS; HUMAN NECESSITIES; HYGIENE; IDENTIFICATION; MEDICAL OR VETERINARY SCIENCE; SURGERY

A surgical robotic system has a tool drive coupled to a distal end of a robotic arm that has a plurality of actuators. The tool drive has a docking interface to receive a trocar. One or more sensors in the docking interface sense a magnetic field generated by the trocar. One or more processors are configured to determine a position and orientation of the trocar based on the sensed magnetic field, and then drive the actuators to orient the docking interface to the determined orientation of the trocar, or otherwise guide the robotic arm toward the determined position of the trocar. Other aspects are also described and claimed. 一种外科机器人系统，具有联接到机器人臂的远侧端部的工具驱动装置，该机器人臂具有多个致动器。工具驱动装置具有对接接口以接收套管针。对接接口中的一个或多个传感器感测由套管针生成的磁场。一个或多个处理器被配置为基于所感测的磁场来确定套管针的位置和取向，然后驱动致动器以将对接接口取向为套管针的所确定的取向，或者以其他方式朝向套管针的所确定的位置引导机器人臂。本发明还描述并要求保护其他方面。